merged attention branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef DATABASEVIEWER_H_
+#define DATABASEVIEWER_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <QtGui/QMainWindow>
+#include <QtCore/QByteArray>
+#include <QtCore/QMap>
+#include <QtCore/QSet>
+#include <QtGui/QImage>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <set>
+
+class Ui_DatabaseViewer;
+class QGraphicsScene;
+class QGraphicsView;
+class QLabel;
+
+namespace rtabmap
+{
+class Memory;
+}
+
+class RTABMAP_EXP DatabaseViewer : public QMainWindow
+{
+	Q_OBJECT
+
+public:
+	DatabaseViewer(QWidget * parent = 0);
+	virtual ~DatabaseViewer();
+	bool openDatabase(const QString & path);
+
+private slots:
+	void openDatabase();
+	void generateGraph();
+	void generateLocalGraph();
+	void sliderAValueChanged(int);
+	void sliderBValueChanged(int);
+	void sliderAMoved(int);
+	void sliderBMoved(int);
+
+private:
+	void updateIds();
+	QImage ipl2QImage(const IplImage *newImage);
+	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, QGraphicsScene * scene);
+	void update(int value,
+				QLabel * labelIndex,
+				QLabel * labelActions,
+				QLabel * labelParents,
+				QLabel * labelChildren,
+				QGraphicsView * view,
+				QLabel * labelId);
+
+private:
+	Ui_DatabaseViewer * ui_;
+	QMap<int, QByteArray> imagesMap_;
+	QList<int> ids_;
+	rtabmap::Memory * memory_;
+	QString pathDatabase_;
+};
+
+#endif /* DATABASEVIEWER_H_ */